Robust Connectivity Analysis for Multi-Agent Systems

TL;DR

This paper introduces a decentralized control method that ensures the connectivity of multi-agent systems is preserved despite bounded input disturbances, facilitating reliable high-level planning under coupled constraints.

Contribution

It presents a novel robust control framework that maintains network connectivity in multi-agent systems with bounded disturbances, enabling better abstraction and planning.

Findings

Connectivity is guaranteed under bounded input terms.

Framework supports high-level plan generation.

Decentralized control enhances robustness.

Abstract

In this report we provide a decentralized robust control approach, which guarantees that connectivity of a multi-agent network is maintained when certain bounded input terms are added to the control strategy. Our main motivation for this framework is to determine abstractions for multi-agent systems under coupled constraints which are further exploited for high level plan generation.